Cooperative robotic path planning for comprehensive bridge inspection with LiDAR technology: navigating unknown structures

Ben Bartlett; Matheus Santos; Marco Moreno; Sagar Dalai; Cillian Fahy; Alexander Dow; Hector Gonzalez; Petar  Trslic; James Riordan; Edin Omerdic; Daniel Toal; Gerard Dooly

doi:10.1109/OCEANS51537.2024.10682266

Cooperative robotic path planning for comprehensive bridge inspection with LiDAR technology: navigating unknown structures

Ben Bartlett^*, Matheus Santos, Marco Moreno, Sagar Dalai, Cillian Fahy, Alexander Dow, Hector Gonzalez, Petar Trslic, James Riordan, Edin Omerdic, Daniel Toal, Gerard Dooly

^*Corresponding author for this work

School of Computing, Engineering and Physical Sciences

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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Abstract

This paper presents a new automated workflow designed for 3D reconstruction of previously unsurveyed bridges, developed within the EU-funded RAPID project. A cooperative approach, where Unmanned Aerial Vehicles (UAVs) and Un-manned Surface Vehicles (USVs) collaborate is employed to en-sure the safe execution of inspections in unknown environments. In this proposed approach, a survey is first performed using a UAV. The mapped environment serves to plan a path for a USV, addressing safety concerns associated with the UAV flight path. This collaboration enables a secure mapping of the underside features of the bridge. Real-world environment tests, conducted with one of the most popular commercial UAS platforms and a novel research USV, demonstrate the feasibility of the developed system in autonomous bridge inspections.

Original language	English
Title of host publication	OCEANS 2024 - Singapore 15-18 April 2024
Publisher	IEEE
Number of pages	7
ISBN (Electronic)	9798350362077, 9798350362084
DOIs	https://doi.org/10.1109/OCEANS51537.2024.10682266
Publication status	Published - 24 Sept 2024

Keywords

UAV
USV
autonomous inspection
3D reconstruction
LiDAR
unknown environments
cooperative robots

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10.1109/OCEANS51537.2024.10682266

2024 07 31 Bartlett et al Robotic accepted - for PureAccepted author manuscript, 8.23 MBLicence: CC BY 4.0

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Bartlett, B., Santos, M., Moreno, M., Dalai, S., Fahy, C., Dow, A., Gonzalez, H., Trslic, P., Riordan, J., Omerdic, E., Toal, D., & Dooly, G. (2024). Cooperative robotic path planning for comprehensive bridge inspection with LiDAR technology: navigating unknown structures. In OCEANS 2024 - Singapore 15-18 April 2024 Article 10682266 IEEE. https://doi.org/10.1109/OCEANS51537.2024.10682266

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title = "Cooperative robotic path planning for comprehensive bridge inspection with LiDAR technology: navigating unknown structures",

abstract = "This paper presents a new automated workflow designed for 3D reconstruction of previously unsurveyed bridges, developed within the EU-funded RAPID project. A cooperative approach, where Unmanned Aerial Vehicles (UAVs) and Un-manned Surface Vehicles (USVs) collaborate is employed to en-sure the safe execution of inspections in unknown environments. In this proposed approach, a survey is first performed using a UAV. The mapped environment serves to plan a path for a USV, addressing safety concerns associated with the UAV flight path. This collaboration enables a secure mapping of the underside features of the bridge. Real-world environment tests, conducted with one of the most popular commercial UAS platforms and a novel research USV, demonstrate the feasibility of the developed system in autonomous bridge inspections.",

keywords = "UAV, USV, autonomous inspection, 3D reconstruction, LiDAR, unknown environments, cooperative robots",

author = "Ben Bartlett and Matheus Santos and Marco Moreno and Sagar Dalai and Cillian Fahy and Alexander Dow and Hector Gonzalez and Petar Trslic and James Riordan and Edin Omerdic and Daniel Toal and Gerard Dooly",

year = "2024",

month = sep,

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doi = "10.1109/OCEANS51537.2024.10682266",

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Bartlett, B, Santos, M, Moreno, M, Dalai, S, Fahy, C, Dow, A, Gonzalez, H, Trslic, P, Riordan, J, Omerdic, E, Toal, D & Dooly, G 2024, Cooperative robotic path planning for comprehensive bridge inspection with LiDAR technology: navigating unknown structures. in OCEANS 2024 - Singapore 15-18 April 2024., 10682266, IEEE. https://doi.org/10.1109/OCEANS51537.2024.10682266

TY - GEN

T1 - Cooperative robotic path planning for comprehensive bridge inspection with LiDAR technology

T2 - navigating unknown structures

AU - Bartlett, Ben

AU - Santos, Matheus

AU - Moreno, Marco

AU - Dalai, Sagar

AU - Fahy, Cillian

AU - Dow, Alexander

AU - Gonzalez, Hector

AU - Trslic, Petar

AU - Riordan, James

AU - Omerdic, Edin

AU - Toal, Daniel

AU - Dooly, Gerard

PY - 2024/9/24

Y1 - 2024/9/24

N2 - This paper presents a new automated workflow designed for 3D reconstruction of previously unsurveyed bridges, developed within the EU-funded RAPID project. A cooperative approach, where Unmanned Aerial Vehicles (UAVs) and Un-manned Surface Vehicles (USVs) collaborate is employed to en-sure the safe execution of inspections in unknown environments. In this proposed approach, a survey is first performed using a UAV. The mapped environment serves to plan a path for a USV, addressing safety concerns associated with the UAV flight path. This collaboration enables a secure mapping of the underside features of the bridge. Real-world environment tests, conducted with one of the most popular commercial UAS platforms and a novel research USV, demonstrate the feasibility of the developed system in autonomous bridge inspections.

AB - This paper presents a new automated workflow designed for 3D reconstruction of previously unsurveyed bridges, developed within the EU-funded RAPID project. A cooperative approach, where Unmanned Aerial Vehicles (UAVs) and Un-manned Surface Vehicles (USVs) collaborate is employed to en-sure the safe execution of inspections in unknown environments. In this proposed approach, a survey is first performed using a UAV. The mapped environment serves to plan a path for a USV, addressing safety concerns associated with the UAV flight path. This collaboration enables a secure mapping of the underside features of the bridge. Real-world environment tests, conducted with one of the most popular commercial UAS platforms and a novel research USV, demonstrate the feasibility of the developed system in autonomous bridge inspections.

KW - UAV

KW - USV

KW - autonomous inspection

KW - 3D reconstruction

KW - LiDAR

KW - unknown environments

KW - cooperative robots

U2 - 10.1109/OCEANS51537.2024.10682266

DO - 10.1109/OCEANS51537.2024.10682266

M3 - Conference contribution

BT - OCEANS 2024 - Singapore 15-18 April 2024

PB - IEEE

ER -

Cooperative robotic path planning for comprehensive bridge inspection with LiDAR technology: navigating unknown structures

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Keywords

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